Trajectory Control for Mobile Robot by Sliding Mode
| International Journal of Electrical and Electronics Engineering |
| © 2025 by SSRG - IJEEE Journal |
| Volume 12 Issue 1 |
| Year of Publication : 2025 |
| Authors : Sebti Berrahal, Abdesslem Chikhi, Laid Khettache |
10.14445/23488379/IJEEE-V12I1P122
How to Cite?
Sebti Berrahal, Abdesslem Chikhi, Laid Khettache, "Trajectory Control for Mobile Robot by Sliding Mode," SSRG International Journal of Electrical and Electronics Engineering, vol. 12, no. 1, pp. 222-229, 2025. Crossref, https://doi.org/10.14445/23488379/IJEEE-V12I1P122
Abstract:
This study presents a sliding mode control method for wheeled mobile robots designed to enhance trajectory tracking accuracy and robustness. The method begins with the formulation of constraint and dynamic equations that describe the robot's motion, accounting for the complex interactions between the wheels and the ground and the forces and moments that influence its movement. A comprehensive state model of the system is developed to enhance understanding of the robot's internal and external dynamics. A variable structure controller based on sliding mode principles is employed to achieve effective control, which is particularly advantageous for systems encountering uncertainties and disturbances, ensuring stability amid parameter variations. Specific modifications are applied to address the issue of chattering -rapid oscillations that can compromise precision and durability. Advanced techniques, such as saturation functions and higher-order sliding modes, are utilized to mitigate these oscillations while preserving the robustness of the control system. Finally, numerical simulations are performed to evaluate the performance of the proposed method under diverse conditions. The results illustrate that the controller facilitates precise trajectory tracking, even in the presence of external disturbances and dynamic uncertainties, confirming the effectiveness of sliding mode control for wheeled mobile robots in achieving stability, rapid convergence to target trajectories, and reduced chattering effects.
Keywords:
Sliding mode, Lagrange formalism, Non-holonomic mobile robot, Trajectory pursuit.
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